private static int ConvertBag(Verbs.ConvertOptions opts)
{
var watch = System.Diagnostics.Stopwatch.StartNew();
var bag = new RosBag(opts.Input.ToList());
var topicList = opts.Topics.Count() > 0 ? opts.Topics : bag.TopicList;
TimeSpan offset = TimeSpan.Zero;
// check if we should should restamp the time as current time.
if (opts.RestampTime)
{
// This is a hack for now, we don't know the actual pipeline startime until it start
// This is obviously break if the pipeline starts later etc.
// One idea is to pass the bag.StartTime around, but this might be good enough.
offset = DateTime.UtcNow - bag.StartTime;
}
// create a psi store
using (var pipeline = Pipeline.Create(true)) //enable diagnostic
{
var store = Store.Create(pipeline, opts.Name, opts.Output);
// We cannot write the diagnostics information because PsiStudio cannot
// handle weirdly out of wack times.
// store.Write(pipeline.Diagnostics, "ReaderDiagnostics");
var dynamicSerializer = new DynamicSerializers(bag.KnownRosMessageDefinitions, opts.useHeaderTime, offset, useCustomSerializer: opts.useCustomSerializer);
foreach (var topic in topicList)
{
if (opts.ExcludeTopic.Contains(topic))
{
continue;
}
var messageDef = bag.GetMessageDefinition(topic);
var messages = bag.ReadTopic(topic);
dynamicSerializer.SerializeMessages(pipeline, store, topic, messageDef.Type, messages);
}
pipeline.Run();
}
watch.Stop();
Console.WriteLine($"Total elapsed time:{watch.ElapsedMilliseconds/1000.0} secs");
return(1);
}
private static int ConvertBag(Verbs.ConvertOptions opts)
{
var bag = new RosBag(opts.Input);
var topicList = opts.Topics.Count() > 0 ? opts.Topics : bag.TopicList;
// create a psi store
using (var pipeline = Pipeline.Create())
{
var store = Store.Create(pipeline, opts.Name, opts.Output);
var dynamicSerializer = new DynamicSerializers(bag.KnownRosMessageDefinitions);
foreach (var topic in topicList)
{
var messages = bag.ReadTopic(topic);
dynamicSerializer.SerializeMessages(pipeline, store, topic, messages);
}
pipeline.Run();
}
return(1);
}
